WO2017138517A1 - Dispositif de commande de véhicule, procédé de commande de véhicule et programme de commande de véhicule - Google Patents

Dispositif de commande de véhicule, procédé de commande de véhicule et programme de commande de véhicule Download PDF

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Publication number
WO2017138517A1
WO2017138517A1 PCT/JP2017/004369 JP2017004369W WO2017138517A1 WO 2017138517 A1 WO2017138517 A1 WO 2017138517A1 JP 2017004369 W JP2017004369 W JP 2017004369W WO 2017138517 A1 WO2017138517 A1 WO 2017138517A1
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Prior art keywords
vehicle
data
trajectory
trajectory data
received
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PCT/JP2017/004369
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English (en)
Japanese (ja)
Inventor
政宣 武田
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本田技研工業株式会社
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Application filed by 本田技研工業株式会社 filed Critical 本田技研工業株式会社
Priority to US16/069,588 priority Critical patent/US10875541B2/en
Priority to CN201780005707.3A priority patent/CN108463386B/zh
Priority to JP2017566949A priority patent/JP6760977B2/ja
Publication of WO2017138517A1 publication Critical patent/WO2017138517A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/171—Detecting parameters used in the regulation; Measuring values used in the regulation
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    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
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    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
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    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B62D15/0255—Automatic changing of lane, e.g. for passing another vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B62D15/0265—Automatic obstacle avoidance by steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/02—Active or adaptive cruise control system; Distance control
    • B60T2201/022—Collision avoidance systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/08—Lane monitoring; Lane Keeping Systems
    • B60T2201/087—Lane monitoring; Lane Keeping Systems using active steering actuation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2250/00—Monitoring, detecting, estimating vehicle conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2260/00—Interaction of vehicle brake system with other systems
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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    • B60W2710/00—Output or target parameters relating to a particular sub-units
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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    • B60W30/10—Path keeping
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Definitions

  • the present invention relates to a vehicle control system, a vehicle control method, and a vehicle control program.
  • Priority is claimed on Japanese Patent Application No. 2016-025163, filed Feb. 12, 2016, the content of which is incorporated herein by reference.
  • the collision avoidance trajectory corresponding to the operation of the vehicle is selected from among the plurality of processes for generating a plurality of collision avoidance trajectories for avoiding, the process for detecting the operation of the vehicle by the driver, and the plurality of collision avoidance trajectories
  • a travel control method of a vehicle which includes processing for controlling the traveling of the host vehicle based on the selected collision avoidance track, and processing for performing the control (see, for example, Patent Document 1).
  • An aspect according to the present invention is made in consideration of such circumstances, and it is an object of the present invention to provide a vehicle control system, a vehicle control method, and a vehicle control program capable of ending automatic driving more smoothly.
  • a vehicle control system generates trajectory data indicating a future trajectory of the host vehicle, and generates a first device that outputs the generated trajectory data, and the first device.
  • a second device for controlling at least one of acceleration / deceleration or steering of the host vehicle based on the track data, and at least the first device separately from the first device;
  • a third device for receiving the trajectory data generated by the device and writing the received trajectory data in a storage unit of the device; an abnormality occurs in the trajectory data output by the first device
  • the second device controls at least one of acceleration / deceleration or steering of the vehicle based on the track data received by the third device and written in the storage unit before the abnormality occurs.
  • the storage unit when the third device detects that an abnormality has occurred in the trajectory data received from the first device, the storage unit receives the received trajectory data. You may stop storing in
  • the third device when the third device detects that an abnormality has occurred in the trajectory data received from the first device, the first device The reception of the generated trajectory data may be stopped.
  • the third device relays the trajectory data output from the first device and outputs the relay data to the second device, and the relay On the basis of the content or presence of the trajectory data, it may be detected that an abnormality has occurred in the trajectory data.
  • the first device, the second device, and the third device can refer to information to be transmitted by a plurality of devices.
  • the first device outputs the orbit data to the communication line
  • the second device transmits the orbit data based on the orbit data transmitted by the communication line.
  • At least one of acceleration and deceleration or steering of the vehicle is controlled
  • the third device receives the track data transmitted by the communication line, stores the received track data in the storage unit, and When an abnormality occurs in the received orbit data, the orbit data stored in the storage unit may be output to the communication line.
  • the third device in the trajectory data stored in the storage unit, has higher priority than information output from the first device to the communication line. Information may be added and output to the communication line.
  • the trajectory is based on the trajectory data received from the first device and stored in the storage unit by the third device.
  • Generated additional orbit data indicating future orbits further than the future targeted by the target, and when abnormality occurs in the orbit data received from the first device, the additional orbit data is received from the first device
  • the generated additional orbit data may be output to the second device in addition to the orbit data.
  • each of the first device and the third device includes volatile memory, and the volatile memory in the first device is:
  • the storage capacity may be larger than that of the volatile memory included in the third device.
  • the first device generates trajectory data indicating a future trajectory of the host vehicle, outputs the generated trajectory data
  • the second device A third device, which controls at least one of acceleration / deceleration or steering of the host vehicle based on the track data generated by the first device, is at least a separate device from the first device.
  • Receiving the orbit data generated by the first device writing the received orbit data into a storage unit of the own device, and causing abnormality in the orbit data output by the first device;
  • the second device controls at least one of acceleration / deceleration or steering of the host vehicle based on the track data received by the third device and written in the storage unit before the abnormality occurs.
  • the vehicle control program causes the first device to generate trajectory data indicating the future trajectory of the vehicle, and causes the second device to output the generated trajectory data.
  • a third device that controls at least one of acceleration / deceleration or steering of the host vehicle based on the track data generated by the first device, and is at least a device separate from the first device causes the track data generated by the first device to be received, writes the received track data into the storage unit of the own device, and the track data output by the first device is abnormal.
  • the second device performs at least one of acceleration / deceleration or steering of the host vehicle based on the track data received by the third device and written in the storage unit before the abnormality occurs.
  • the second embodiment when it is detected that an abnormality has occurred in the trajectory data received from the first device, the second embodiment can stop storing the received trajectory data in the storage unit.
  • the device does not automatically control at least one of acceleration / deceleration or steering of the host vehicle based on the trajectory data after the occurrence of an abnormality. As a result, safety during driving can be improved.
  • the second device when it is detected that the information indicating the trajectory received from the first device has an abnormality, the reception of the trajectory data generated by the first device is stopped, The second device does not automatically control at least one of acceleration / deceleration or steering of the host vehicle based on the trajectory data after the occurrence of an abnormality. As a result, safety during driving can be improved.
  • information indicating that the first device has higher priority than the information output to the communication line is added to the trajectory data stored in the storage unit by the third device.
  • the automatic operation can be completed more smoothly because the signal is output to the communication line.
  • the generation additional trajectory data is added to the second device in addition to the trajectory data received from the first device.
  • the first device and the third device each include volatile memory, and the volatile memory included in the first device stores more than volatile memory included in the third device Due to the large capacity, the third device can be realized at low cost.
  • FIG. 1 is a diagram showing components of a vehicle (hereinafter referred to as a host vehicle M) on which the vehicle control system 100 according to the first embodiment is mounted.
  • the vehicle on which the vehicle control system 100 is mounted is, for example, a two-, three-, or four-wheeled vehicle, such as a vehicle powered by an internal combustion engine such as a diesel engine or gasoline engine, or an electric vehicle powered by a motor. And hybrid vehicles having an internal combustion engine and an electric motor.
  • the electric vehicle described above is driven using power discharged by a battery such as a secondary battery, a hydrogen fuel cell, a metal fuel cell, an alcohol fuel cell, or the like.
  • the finders 20-1 to 20-7 are, for example, LIDAR (Light Detection and Ranging, or Laser Imaging Detection and Ranging) which measures the scattered light with respect to the irradiation light and measures the distance to the object.
  • LIDAR Light Detection and Ranging, or Laser Imaging Detection and Ranging
  • the finder 20-1 is attached to a front grill or the like
  • the finders 20-2 and 20-3 are attached to the side of a vehicle body, a door mirror, the inside of a headlight, the vicinity of a side light, or the like.
  • the finder 20-4 is attached to the trunk lid or the like, and the finders 20-5 and 20-6 are attached to the side of the vehicle body, the inside of the taillight, or the like.
  • the finders 20-1 to 20-6 described above have, for example, a detection area of about 150 degrees in the horizontal direction.
  • the finder 20-7 is attached to the roof or the like.
  • the finder 20-7 has, for example, a detection area of 360 degrees in the horizontal direction.
  • the radars 30-1 and 30-4 described above are, for example, long-distance millimeter-wave radars whose detection region in the depth direction is wider than other radars.
  • the radars 30-2, 30-3, 30-5, and 30-6 are middle-range millimeter-wave radars that have a narrower detection area in the depth direction than the radars 30-1 and 30-4.
  • finders 20-1 to 20-7 are not particularly distinguished, they are simply described as "finder 20"
  • radars 30-1 to 30-6 are not distinguished particularly, they are simply described as "radar 30".
  • the radar 30 detects an object by, for example, a frequency modulated continuous wave (FM-CW) method.
  • FM-CW frequency modulated continuous wave
  • the camera 40 is a digital camera using a solid-state imaging device such as, for example, a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS).
  • CMOS complementary metal oxide semiconductor
  • the camera 40 is attached to the top of the front windshield, the rear of the rearview mirror, and the like.
  • the camera 40 for example, periodically and repeatedly images the front of the host vehicle M.
  • the configuration shown in FIG. 1 is merely an example, and a part of the configuration may be omitted, or another configuration may be added.
  • FIG. 2 is a functional configuration diagram of the own vehicle M centering on the vehicle control system 100 according to the first embodiment.
  • the vehicle M includes the navigation device 50, the vehicle sensor 60, the operation device 70, the operation detection sensor 72, the changeover switch 80, and the traveling driving force output device 90.
  • a steering device 92, a brake device 94, and a vehicle control system 100 are mounted. These devices and devices are mutually connected by a multiplex communication line such as a CAN (Controller Area Network) communication line, a serial communication line, a wireless communication network or the like.
  • CAN Controller Area Network
  • the navigation device 50 has a GNSS (Global Navigation Satellite System) receiver, map information (navigation map), a touch panel display device functioning as a user interface, a speaker, a microphone, and the like.
  • the navigation device 50 specifies the position of the host vehicle M by the GNSS receiver, and derives the route from the position to the destination specified by the user.
  • the route derived by the navigation device 50 is stored in the storage unit 140 as route information 144.
  • the position of the host vehicle M may be identified or supplemented by an INS (Inertial Navigation System) using the output of the vehicle sensor 60.
  • INS Inertial Navigation System
  • the navigation device 50 provides guidance by voice or navigation display on the route to the destination.
  • the configuration for specifying the position of the host vehicle M may be provided independently of the navigation device 50.
  • the navigation apparatus 50 may be implement
  • the vehicle sensor 60 includes a vehicle speed sensor that detects a vehicle speed, an acceleration sensor that detects an acceleration, a yaw rate sensor that detects an angular velocity about a vertical axis, an orientation sensor that detects the direction of the host vehicle M, and the like.
  • the traveling drive power output device 90 includes an engine and an engine ECU (Electronic Control Unit) for controlling the engine, and the host vehicle M motive power is a motor.
  • the driving motor and the motor ECU for controlling the driving motor are provided.
  • the engine and the engine ECU, and the driving motor and the motor ECU are provided.
  • travel driving force output device 90 includes only the engine, the engine ECU adjusts the throttle opening degree and shift stage of the engine according to the information input from travel control unit 162 described later, and travels for the vehicle to travel.
  • Output driving force (torque).
  • the traveling driving force output device 90 includes only the traveling motor
  • the motor ECU adjusts the duty ratio of the PWM signal given to the traveling motor according to the information input from the traveling control unit 162, and performs the above-described traveling driving. Output power.
  • the traveling driving force output device 90 includes an engine and a traveling motor
  • both the engine ECU and the motor ECU control the traveling driving force in coordination with each other in accordance with the information input from the traveling control unit 162.
  • the steering device 92 includes, for example, an electric motor, a steering torque sensor, a steering angle sensor, and the like.
  • the electric motor for example, exerts a force on a rack and pinion function or the like to change the direction of the steering wheel.
  • the steering torque sensor detects, for example, the twist of the torsion bar when the steering wheel is operated as a steering torque (steering force).
  • the steering angle sensor detects, for example, a steering angle (or an actual steering angle).
  • the steering device 92 drives the electric motor according to the information input from the travel control unit 162 to change the direction of the steering wheel.
  • the brake device 94 is, for example, an electric servo brake device including a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the cylinder, and a braking control unit.
  • the braking control unit of the electric servo brake device controls the electric motor in accordance with the information input from the traveling control unit 162 so that the brake torque corresponding to the braking operation is output to each wheel.
  • the electric servo brake device may be provided with a mechanism for transmitting the hydraulic pressure generated by the operation of the brake pedal to the cylinder via the master cylinder as a backup.
  • the brake device 94 is not limited to the electric servo brake device described above, but may be an electronically controlled hydraulic brake device.
  • the electronically controlled hydraulic brake device controls the actuator according to the information input from the travel control unit 162 to transmit the hydraulic pressure of the master cylinder to the cylinder.
  • the brake device 94 may include a regenerative brake.
  • the regenerative brake utilizes the electric power generated by the traveling motor which may be included in the traveling drive power output device 90.
  • the operating device 70 includes, for example, an accelerator pedal, a steering wheel, a brake pedal, a shift lever, and the like.
  • An operation detection sensor 72 is attached to the operation device 70 to detect the presence or the amount of the operation by the driver.
  • the operation detection sensor 72 includes, for example, an accelerator opening degree sensor, a steering torque sensor, a brake sensor, a shift position sensor, and the like.
  • the operation detection sensor 72 outputs an accelerator opening degree as a detection result, a steering torque, a brake depression amount, a shift position, and the like to the traveling control unit 162.
  • the detection result of the operation detection sensor 72 may be directly output to the traveling drive power output device 90, the steering device 92, or the brake device 94.
  • the changeover switch 80 is a switch operated by a driver or the like.
  • the changeover switch 80 may be, for example, a mechanical switch installed on a steering wheel, garnish (dashboard) or the like, or a GUI (Graphical User Interface) switch installed on a touch panel of the navigation device 50.
  • Switch 80 receives an operation of the driver or the like, generates a control mode designation signal for designating the control mode by traveling control unit 162 as either the automatic operation mode or the manual operation mode, and outputs the control mode designation signal to control switching unit 164.
  • the automatic operation mode as described above, is an operation mode in which the driver travels in a state where the operation is not performed (or the operation amount is small or the operation frequency is low compared to the manual operation mode). These are operation modes for controlling a part or all of the traveling drive power output device 90, the steering device 92, and the brake device 94 based on the action plan.
  • the vehicle control system 100 includes, for example, a track generation ECU 110, a buffer ECU 150, and a travel control ECU 160.
  • At least the trajectory generation ECU 110 and the buffer ECU 150 are configured as separate bodies different from each other.
  • the separate may be, for example, that processors provided in each ECU are configured as chips (chip sets) different from each other, or that communication lines exist between both ECUs.
  • separate units may be provided that each ECU is independently provided in a package of resin, metal, ceramic or the like, or may be mounted on different printed boards.
  • the travel control ECU 160 may be configured as a separate body different from the track generation ECU 110 and the buffer ECU 150.
  • the track generation ECU 110, the buffer ECU 150, and the travel control ECU 160 will be described as being separately configured.
  • the track generation ECU 110 includes a vehicle position recognition unit 112, an external world recognition unit 114, an action plan generation unit 116, a traveling mode determination unit 120, a first track generation unit 122, a lane change control unit 130, and a storage unit. And 140. Some or all of the host vehicle position recognition unit 112, the external world recognition unit 114, the action plan generation unit 116, the travel mode determination unit 120, the first track generation unit 122, and the lane change control unit 130 are CPU (Central Processing Unit) Or the like may be implemented by executing a program stored in the storage unit 140. Also, part or all of these may be realized by hardware such as LSI (Large Scale Integration) or ASIC (Application Specific Integrated Circuit).
  • the trajectory generation ECU 110 is an example of the “first device”.
  • the storage unit 140 is realized by a non-volatile storage medium such as a read only memory (ROM), a flash memory, a hard disk drive (HDD), and a volatile storage medium such as a random access memory (RAM) or a register. Good.
  • the program executed by the processor may be stored in advance in a non-volatile storage medium of the storage unit 140, or may be downloaded from an external device via an on-vehicle Internet facility or the like.
  • a portable storage medium storing a program may be installed in the storage unit 140 by being installed in a drive device (not shown).
  • the buffer ECU 150 includes, for example, a storage control unit 154 and a storage unit 156.
  • the storage control unit 154 may be realized by execution of a program by a processor such as a CPU, or may be realized by hardware such as an LSI or an ASIC.
  • the storage control unit 154 may also be realized by hardware that performs DMA (Direct Memory Access).
  • the buffer ECU 150 is an example of the “third device”.
  • the storage unit 156 may be realized by a non-volatile storage medium such as a ROM, a flash memory, and an HDD, and a volatile storage medium such as a RAM and a register.
  • the program executed by the processor may be stored in advance in a non-volatile storage medium of the storage unit 156, or may be downloaded from an external device via a vehicle-mounted Internet facility or the like. Further, the program may be installed in the storage unit 156 by mounting a portable storage medium storing the program in a drive device (not shown).
  • the storage capacity of the RAM included in the storage unit 156 is smaller than the storage capacity of the RAM included in the storage unit 140 of the trajectory generation ECU 110 described above. This is because the function required of the buffer ECU 150 is smaller than the function required of the trajectory generation ECU 110. Further, the storage capacity of the RAM included in the storage unit 156 may be smaller than the storage capacity of the RAM included in the storage unit 170 of the travel control ECU 160.
  • the traveling control ECU 160 includes, for example, a traveling control unit 162, a control switching unit 164, and a storage unit 170.
  • the travel control ECU 160 may be realized by a processor such as a CPU executing a program. In addition, part or all of these may be realized by hardware such as LSI or ASIC.
  • the traveling control ECU 160 is an example of the “second device”.
  • the storage unit 170 may be realized by a non-volatile storage medium such as a ROM, a flash memory, and an HDD, and a volatile storage medium such as a RAM and a register.
  • the program executed by the processor may be stored in advance in a non-volatile storage medium of the storage unit 170, or may be downloaded from an external device via a vehicle-mounted internet facility or the like.
  • the program may be installed in the storage unit 170 by mounting a portable storage medium storing the program in a drive device (not shown).
  • the vehicle position recognition unit 112 Based on the map information 142 stored in the storage unit 170 and the information input from the finder 20, the radar 30, the camera 40, the navigation device 50, or the vehicle sensor 60, the vehicle position recognition unit 112 performs the vehicle M. Recognizes the lane in which the vehicle is traveling (traveling lane) and the relative position of the vehicle M with respect to the traveling lane.
  • the map information 142 is, for example, map information with higher accuracy than the navigation map of the navigation device 50, and includes information on the center of the lane or information on the boundary of the lane. More specifically, the map information 142 includes road information, traffic control information, address information (address / zip code), facility information, telephone number information, and the like.
  • the road information includes information indicating the type of road such as expressways, toll roads, national roads, and prefectural roads, the number of lanes of the road, the width of each lane, the slope of the road, the position of the road (longitude, latitude, height 3) (including three-dimensional coordinates), curvature of a curve of a lane, locations of merging and branching points of lanes, and information such as signs provided on roads.
  • the traffic regulation information includes information that the lane is blocked due to construction work, traffic accident, traffic jam or the like.
  • FIG. 3 is a diagram showing how the vehicle position recognition unit 112 recognizes the relative position of the vehicle M with respect to the traveling lane L1.
  • the host vehicle position recognition unit 112 for example, is a line connecting the deviation OS of the reference point G (for example, the center of gravity) of the host vehicle M from the center CL of the travel lane and the center CL of the travel lane
  • the angle ⁇ to be formed is recognized as the relative position of the host vehicle M with respect to the traveling lane L1.
  • the host vehicle position recognition unit 112 recognizes the position of the reference point of the host vehicle M with respect to any one side end of the host lane L1 as the relative position of the host vehicle M with respect to the traveling lane. It is also good.
  • the external world recognition unit 114 recognizes the position of the surrounding vehicle and the state of the velocity, acceleration, and the like based on the information input from the finder 20, the radar 30, the camera 40, and the like.
  • the surrounding vehicle in the present embodiment is a vehicle traveling around the host vehicle M, and is a vehicle traveling in the same direction as the host vehicle M.
  • the position of the surrounding vehicle may be represented by a representative point such as the center of gravity or a corner of the other vehicle, or may be represented by an area represented by the contour of the other vehicle.
  • the "state" of the surrounding vehicle may include the acceleration of the surrounding vehicle based on the information of the various devices, and whether or not the lane change is made (or whether the lane change is being made).
  • the outside world recognition unit 114 may also recognize the positions of the guardrails, power poles, parked vehicles, pedestrians, and other objects.
  • the action plan generating unit 116 generates an action plan in a predetermined section.
  • the predetermined section is, for example, a section passing through a toll road such as a highway among the routes derived by the navigation device 50. Not limited to this, the action plan generation unit 116 may generate an action plan for any section.
  • the action plan is composed of, for example, a plurality of events that are sequentially executed.
  • Events include, for example, a deceleration event for decelerating the host vehicle M, an acceleration event for accelerating the host vehicle M, a lane keep event for traveling the host vehicle M not to deviate from the lane, and a lane change event for changing the lane
  • An overtaking event for causing the host vehicle M to overtake the preceding vehicle, a branch event for changing the lane to a desired lane at a branch point, or allowing the host vehicle M to travel so as not to deviate from the current traveling lane
  • a merging event or the like for accelerating and decelerating the vehicle M to change the traveling lane is included.
  • the vehicle control system 100 changes the lane to advance the host vehicle M toward the destination in the automatic operation mode. , Need to keep the lane. Therefore, when it is determined that the junction is present on the route with reference to the map information 142, the action plan generation unit 116 determines from the current position (coordinates) of the host vehicle M to the position (coordinates) of the junction. In the meantime, set a lane change event to change lanes to the desired lane that can proceed in the direction of the destination. Information indicating the action plan generated by the action plan generation unit 116 is stored in the storage unit 140 as the action plan information 146.
  • FIG. 4 is a diagram showing an example of an action plan generated for a certain section.
  • the action plan generation unit 116 classifies scenes that occur when traveling along a route to a destination, and generates an action plan such that an event suited to each scene is executed. Note that the action plan generation unit 116 may change the action plan dynamically according to the change in the situation of the host vehicle M.
  • the action plan generation unit 116 may change (update) the generated action plan based on the state of the external world recognized by the external world recognition unit 114.
  • the state of the outside world constantly changes.
  • the distance between the vehicle and another vehicle changes relatively. For example, if the vehicle ahead is suddenly braking and decelerating, or the vehicle traveling in the next lane cuts in front of the host vehicle M, the host vehicle M behaves in the front vehicle or the adjacent lane It is necessary to travel while changing the speed and lane appropriately according to the behavior of the vehicle. Therefore, the action plan generation unit 116 may change the event set for each control section according to the change in the state of the outside world as described above.
  • the action plan generation unit 116 determines that the speed of the other vehicle recognized by the external world recognition unit 114 exceeds the threshold while the vehicle is traveling, or that the movement direction of the other vehicle traveling in the lane adjacent to the own lane is When the vehicle is turned in the lane direction, the event set in the driving section where the host vehicle M is to travel is changed. For example, when an event is set such that a lane change event is performed after a lane keep event, the recognition result of the external world recognition unit 114 causes the vehicle to exceed the threshold from behind the lane in the lane change destination during the lane keep event.
  • the action plan generation unit 116 changes the event following the lane keeping event from a lane change to a deceleration event or a lane keeping event.
  • the vehicle control system 100 can prevent the host vehicle M from colliding with the lane change destination vehicle. As a result, the vehicle control system 100 can safely cause the host vehicle M to travel automatically even when a change occurs in the state of the outside world.
  • the traveling mode determination unit 120 performs one of constant speed traveling, follow-up traveling, deceleration traveling, curve traveling, obstacle avoidance traveling, and the like. Determine the travel mode. For example, the traveling mode determination unit 120 determines that the traveling mode is the constant speed traveling when no other vehicle is present in front of the host vehicle. In addition, the traveling mode determination unit 120 determines the traveling mode as the following traveling when following the traveling vehicle. Further, the traveling mode determining unit 120 determines the traveling mode to be the decelerating traveling when the external world recognition unit 114 recognizes the deceleration of the leading vehicle, or when an event such as stopping or parking is performed.
  • the traveling mode determination unit 120 determines that the traveling mode is curve traveling when the external world recognition unit 114 recognizes that the host vehicle M has approached a curved road. Further, when the external world recognition unit 114 recognizes an obstacle ahead of the host vehicle M, the traveling mode determination unit 120 determines that the traveling mode is obstacle avoidance traveling.
  • the first track generation unit 122 generates a track based on the traveling mode determined by the traveling mode determination unit 120.
  • a track is a set of points obtained by sampling, for each predetermined time, a future target position assumed to be reached when the host vehicle M travels based on the travel mode determined by the travel mode determination unit 120 ( Trajectory).
  • this point may be referred to as a trajectory point.
  • the first trajectory generation unit 122 outputs information indicating the generated trajectory (hereinafter, referred to as trajectory data) to the buffer ECU 150.
  • FIG. 5A to 5D are diagrams showing an example of a trajectory generated by the first trajectory generation unit 122.
  • the first trajectory generation unit 122 sets K (1), K (2), K (K) every time a predetermined time ⁇ t has elapsed from the current time based on the current position of the host vehicle M. 3) Set a future target position such as ... as the trajectory of the vehicle M.
  • target position K when these target positions are not distinguished, they are simply referred to as “target position K”.
  • the number of target positions K is determined according to the target time T.
  • the first track generation unit 122 sets the target position K on the center line of the traveling lane in increments of predetermined time ⁇ t (for example, 0.1 seconds) in these 5 seconds.
  • the arrangement intervals of the plurality of target positions K are determined based on the traveling mode.
  • the first track generation unit 122 may derive, for example, the center line of the traveling lane from information such as the width of the lane included in the map information 142, or when it is included in the map information 142 in advance, It may be acquired from the map information 142.
  • the first track generation unit 122 sets a plurality of target positions K at equal intervals as illustrated in FIG. Generate
  • the traveling mode is determined to be decelerating traveling by the traveling mode determination unit 120 (including the case where the preceding vehicle is decelerated during follow-up traveling)
  • the first track generation unit 122 reaches as shown in FIG. 5B
  • the interval is made wider as the target position K is earlier, and the trajectory is made narrower as the target position K is later.
  • the traveling control unit 162 described later decelerates the host vehicle M.
  • the traveling mode determination part 120 determines traveling mode to curve traveling.
  • the first track generation unit 122 arranges the plurality of target positions K while changing the lateral position (position in the lane width direction) with respect to the traveling direction of the vehicle M according to the curvature of the road.
  • the traveling mode determination unit 120 determines the traveling mode as obstacle avoidance traveling.
  • the first trajectory generation unit 122 generates a trajectory by arranging a plurality of target positions K so as to travel while avoiding the obstacle OB.
  • the lane change control unit 130 performs control when the lane change event included in the action plan is performed by the travel control unit 162.
  • the lane change control unit 130 includes, for example, a target position setting unit 131, a lane change determination unit 132, and a second track generation unit 133.
  • the lane change control unit 130 is not limited to the lane change event, and may perform processing to be described later when a branch event or a merge event is performed by the travel control unit 162.
  • the target position setting unit 131 sets a target position TA when changing lanes toward a lane (adjacent lane) in which the host vehicle should travel.
  • the target position TA is, for example, a relative position set between two neighboring vehicles selected in the adjacent lane.
  • a front reference vehicle mB the position immediately before the target position TA
  • a rear reference vehicle mC a vehicle traveling immediately after the target position TA
  • the lane change possibility determination unit 132 determines whether or not the lane change is possible at the target position TA set by the target position setting unit 131 (that is, between the front reference vehicle mB and the rear reference vehicle mC).
  • FIG. 6 is a diagram for describing a method of setting the prohibition area RA which is referred to when determining whether or not the lane change is possible.
  • the method shown in the figure is an example in the case where the target position TA is set on the side of the host vehicle M.
  • the lane change possibility determination unit 132 projects the host vehicle M on the lane L2 as the lane change destination, and sets a prohibited area RA with a slight allowance distance before and after.
  • the prohibition area RA is set as an area extending from one end in the lateral direction of the lane L2 to the other end. If part of the surrounding vehicles is present in the prohibited area RA, the lane change determination part 132 determines that the lane change to the target position TA is not possible.
  • the lane change possibility determination unit 132 determines whether the lane change is possible based on the time to collision (TTC) between the host vehicle M and the surrounding vehicle. Determine if The lane change possibility determination unit 132 assumes, for example, an extension line FM and an extension line RM in which the front end and the rear end of the host vehicle M are virtually extended to the lane L2 side of the lane change destination. The lane change possibility determination unit 132 calculates the collision margin time TTC (B) of the extension line FM and the front reference vehicle mB, and the collision margin time TTC (C) of the extension line RM and the rear reference vehicle mC.
  • TTC time to collision
  • the collision margin time TTC (B) is a time derived by dividing the distance between the extension line FM and the front reference vehicle mB by the relative speed of the host vehicle M and the front reference vehicle mB.
  • the collision margin time TTC (C) is a time derived by dividing the distance between the extension line RM and the rear reference vehicle mC by the relative speed of the host vehicle M and the rear reference vehicle mC.
  • the lane change availability determination unit 132 determines that the host vehicle M is the target when the collision margin time TTC (B) is larger than the threshold Th (B) and the collision margin time TTC (C) is larger than the threshold Th (C). It is determined that the lane change to the position TA is possible.
  • the lane change possibility determination unit 132 adds the speed, acceleration, jerk or the like of the front traveling vehicle mA, the front reference vehicle mB, and the rear reference vehicle mC to the host vehicle M in the target position TA. It may be determined whether or not the lane change is possible. For example, the speeds of the forward reference vehicle mB and the backward reference vehicle mC are larger than the velocity of the forward vehicle mA, and the forward reference vehicle mB and the backward reference vehicle mC are forward traveling within the time required for lane change of the host vehicle M.
  • the lane change possibility determination unit 132 determines that the host vehicle M can not change lanes within the target position TA set between the front reference vehicle mB and the rear reference vehicle mC. You may judge.
  • the second track generation unit 133 generates a track for causing the target position TA to change the lane of the host vehicle M according to the result of the determination by the lane change determination unit 132.
  • This trajectory is a set (trajectory) of trajectory points obtained by sampling the target position in the future of the vehicle M at predetermined time intervals, similarly to the trajectory generated by the first trajectory generation unit 122 described above.
  • the second trajectory generation unit 133 transmits, to the buffer ECU 150, trajectory data indicating the generated trajectory.
  • the second track generation unit 133 when the lane change possibility determination unit 132 determines that the lane change by the host vehicle M is possible, the second track generation unit 133 generates a track for changing the lane of the host vehicle M to the target position TA.
  • a track for causing the target position TA to change the lane of the host vehicle M is not generated, and the current lane is maintained.
  • the track for maintaining the lane refers to, for example, a track on which the vehicle M travels at a constant speed, a track on which the current speed is reduced, and a road, similar to the track generated by the first track generation unit 122 Orbit according to the curvature of
  • FIG. 7 is a diagram for explaining a trajectory generation method by the second trajectory generation unit 133.
  • the second track generation unit 133 assumes that the front reference vehicle mB and the rear reference vehicle mC travel on a predetermined speed model (for example, a speed model in which the speed recognized by the external world recognition unit 114 is constant)
  • a trajectory is generated based on the velocity models of these three vehicles and the velocity of the host vehicle M such that the host vehicle M exists between the front reference vehicle mB and the rear reference vehicle mC at a certain time in the future.
  • the second track generation unit 133 smoothly connects the current position of the host vehicle M to the position of the front reference vehicle mB at a certain time in the future using a polynomial curve such as a spline curve, etc.
  • a predetermined number of target positions K are arranged at intervals or unequal intervals.
  • the second trajectory generation unit 133 generates a trajectory such that at least one of the target positions K is disposed within the target position TA.
  • the trajectory data generated in this manner is output from the trajectory generation ECU 110 to the buffer ECU 150.
  • the storage control unit 154 of the buffer ECU 150 writes the track data output from the first track generation unit 122 or the second track generation unit 133 in the buffer area 158 of the storage unit 156.
  • the buffer area 158 corresponds to, for example, a part or all of the storage area of the RAM.
  • the storage control unit 154 may store the primary buffer area before writing to the buffer area 158 in the RAM or the register.
  • FIG. 8 is a diagram showing a partial configuration of the vehicle control system 100 in the first embodiment.
  • the buffer ECU 150 may include a first interface 151 that communicates with the track generation ECU 110 and a second interface 152 that communicates with the travel control ECU 160.
  • the first interface 151 and the second interface 152 may be realized by a hardware interface such as Ethernet (registered trademark), for example.
  • the first interface 151 is connected to the interface 135 on the track generation ECU 110 side, and the second interface 152 is connected to the interface 165 on the travel control ECU 160 side.
  • the storage control unit 154 receives trajectory data from the trajectory generation ECU 110 via the first interface 151, and writes the trajectory data in the buffer area 158. Then, the storage control unit 154 reads out track data from the buffer area 158 at a predetermined transmission timing, and transmits the track data to the interface 165 on the traveling control ECU 160 side via the second interface 152.
  • the predetermined transmission timing is, for example, a time when a predetermined time elapses from the reception time of the orbit data.
  • the storage control unit 154 also detects that an abnormality has occurred in the trajectory data received through the first interface 151.
  • “Abnormal” means, for example, that information indicating that the data is abnormal is attached to a predetermined data area (for example, the top metadata area) in the trajectory data.
  • the information indicating the abnormality is attached, for example, by the first trajectory generation unit 122 or the second trajectory generation unit 133.
  • the track generation ECU 110 performs an unexpected operation (for example, stop) by applying a voltage higher than a specified voltage on the circuit board configuring the track generation ECU 110, shorting a circuit, or thermal runaway.
  • the first trajectory generation unit 122 or the second trajectory generation unit 133 which has generated the trajectory adds information indicating that it is abnormal in the trajectory data.
  • the process which adds the information which shows that it is abnormal may be replaced with the process which does not add the information which shows that it is normal.
  • abnormal may indicate that trajectory data is different from a predetermined data format.
  • the storage control unit 154 refers to the content of the trajectory data and detects the above-mentioned abnormalities.
  • abnormal may indicate that trajectory data is not sent, or the number of trajectory points included in the trajectory data is less than the number of wedges sent as one batch.
  • the storage control unit 154 can not receive trajectory data including a prescribed number of trajectories during a predetermined time period from the time of reception of the previous trajectory data, it detects that an anomaly has occurred in the trajectory data. Do.
  • the length of the predetermined time may be changed according to the length of the orbit included in one orbit data, that is, the number of orbit points.
  • the storage control unit 154 shortens the predetermined time when the short track is repeatedly generated in a short cycle by the track generation ECU 110, and the long predetermined time is long when the long track is repeatedly generated in a long cycle by the track generation ECU 110. You may
  • the storage control unit 154 stops the process of writing the track data received via the first interface 151 in the buffer area 158 when an error occurs in the track data. At this time, while stopping the process of writing track data in the buffer area 158, the storage control unit 154 reads track data from the buffer area 158 and transmits the track data to the interface 165 on the travel control ECU 160 side. On the other hand, the storage control unit 154 continuously performs processing of reading track data from the buffer area 158 and transmitting the track data to the interface 165 on the traveling control ECU 160 side, when no abnormality occurs in the track data.
  • the storage control unit 154 may control the first interface 151 to mechanically stop receiving the track data when an abnormality occurs in the track data.
  • the storage control unit 154 may operate a switch (not shown) to shut off the communication path (communication line) of the track data to itself and stop the reception of the track data.
  • the storage control unit 154 may transmit information indicating that the track data has an abnormality to the traveling control ECU 160.
  • FIG. 9 is a flowchart showing an example of the flow of the writing process of the storage control unit 154 in the first embodiment. The process of this flowchart is repeatedly performed, for example, in a predetermined cycle.
  • the storage control unit 154 stands by until the trajectory data is received from the trajectory generation ECU 110 (step S100), and when the trajectory data is received, determines whether or not an abnormality occurs in the received trajectory data (step S102). If no abnormality occurs in the received orbit data, the storage control unit 154 writes the reception time of the orbit data in the buffer area 158 in association with the orbit data (step S104).
  • the storage control unit 154 stops the process of writing the trajectory data in the buffer area 158 (step S106). By this, the processing of this flowchart ends.
  • FIG. 10 is a flowchart showing an example of the flow of the reading process of the storage control unit 154 in the first embodiment. The process of this flowchart is repeatedly performed, for example, in a predetermined cycle.
  • the storage control unit 154 determines whether the transmission timing has arrived (step S200). When the transmission timing arrives, the storage control unit 154 reads out the trajectory data from the buffer area 158 (step S202).
  • the storage control unit 154 transmits the track data read from the buffer area 158 to the traveling control ECU 160 (step S204). By this, the processing of this flowchart ends.
  • FIG. 11 is a diagram for explaining the process of reading track data from the buffer area 158.
  • the storage control unit 154 receives trajectory data including n trajectory points from the trajectory generation ECU 110 in one reception process.
  • the buffer area 158 is set to, for example, an area capable of storing trajectory data for a plurality of times (three times in FIG. 11).
  • the oldest trajectory data is given a "head pointer" to identify the trajectory data.
  • the head pointer is the track having the smallest number (the target position in the future is closest to the current position of the vehicle M) of the track data including the track points K (0) to K (n) It is given to the point K (0).
  • the storage control unit 154 reads data of a predetermined number of trajectory points in order from the trajectory point to which the head pointer is assigned. That is, the storage control unit 154 reads data of a predetermined number (n in FIG. 11) of track points from the buffer area 158. Then, the storage control unit 154 transmits the set of the data of the predetermined number of the read track points as track data to the travel control ECU 160 at one time.
  • the storage control unit 154 may read track data including only n or less track points, and may transmit the track data to the travel control ECU 160.
  • the storage control unit 154 changes the head pointer to the oldest track data among the track data excluding the track data for which transmission has been completed.
  • the storage control unit 154 changes the head pointer to the track point K (n + 1) of the track data including the track points K (n + 1) to K (2n). Therefore, the storage control unit 154 reads out data of a predetermined number of orbital points in order from the orbital point K (n + 1) to which the head pointer is added, and generates orbital data including the orbital points K (n + 1) to K (2n), It transmits to traveling control ECU160.
  • the storage control unit 154 sets a flag (hereinafter referred to as a transmitted flag) indicating that the transmission is completed in the area (address of the area) storing the orbit data.
  • a transmitted flag indicating that the transmission is completed in the area (address of the area) storing the orbit data.
  • the storage control unit 154 since the storage control unit 154 transmits trajectory data including trajectory points K (0) to K (n), in the area where the trajectory points K (0) to K (n) are stored. Assign "1" a sent flag. The one to which the transmission completion flag is not assigned is set to "0".
  • the storage control unit 154 overwrites the newly received orbit data in the area where the orbit data for which transmission has been completed is stored. That is, the storage control unit 154 overwrites the newly received trajectory data in the area to which the transmission completion flag is assigned among the plurality of areas of the buffer area 158.
  • traveling control unit 162 of traveling control ECU 160 sets the control mode to the automatic operation mode or the manual operation mode, and according to the set control mode, traveling driving force output device 90, steering device 92, and A control target including a part or all of the brake device 94 is controlled.
  • the traveling control unit 162 reads the action plan information 146 generated by the action plan generating unit 116 in the automatic driving mode, and controls the control target based on the event included in the read action plan information 146.
  • the traveling control unit 162 controls the amount of control (for example, the number of rotations) of the electric motor in the steering device 92 and the amount of control of the ECU in the traveling driving force output device 90 (for example, the engine) Throttle position and shift stage etc.).
  • the traveling control unit 162 controls the steering device 92 according to the angle between the traveling direction of the vehicle M for each target position K indicated by the track data and the direction of the next target position based on the target position. Determine the control amount of the electric motor in
  • FIG. 12 is a view showing an example of a scene in which the control amount of the steering device 92 by the traveling control unit 162 is determined.
  • a target position K to be reached by the vehicle M next to the target position K (i).
  • a component of a turning angle ⁇ i for the host vehicle M to travel in the direction in which (i + 1) exists is included.
  • the turning angle ⁇ i is, for example, based on the target position K (i), the direction of the axle of the host vehicle M at the target position K (i) and the direction in which the target position K (i + 1) to be reached next exists. It is an angle with it.
  • the steering angle for realizing the turning angle ⁇ i is determined based on the wheel base of the host vehicle M, the tread interval, the vehicle behavior including the speed, and the like in addition to the turning angle ⁇ i.
  • the traveling control unit 162 uses, for example, information such as the turning angle ⁇ i corresponding to each target position K (i), the vehicle speed (or acceleration or jerk) acquired from the vehicle sensor 60, and the angular velocity (yaw rate) around the vertical axis. Based on this, the steering angle is determined, and the control amount of the electric motor in the steering device 92 is determined so as to give the wheel a displacement corresponding to the steering angle.
  • the host vehicle M is located at the target position K (1) and is traveling on a track generated for lane change.
  • the traveling control unit 162 is based on the turning angle ⁇ 1 which is an angle between the traveling direction of the vehicle M at the target position K (1) and the direction of the target position K (2) to be reached next.
  • the control amount of the electric motor in the steering device 92 is determined so that the wheel is directed to the right in FIG.
  • the traveling control unit 162 repeatedly performs the above-described process at the target positions K (2), (3),... To change the lane of the host vehicle M.
  • the traveling control unit 162 outputs information indicating the control amount to the corresponding control target.
  • each device (90, 92, 94) to be controlled can control the own device according to the information indicating the control amount input from the traveling control unit 162.
  • the traveling control unit 162 appropriately adjusts the determined control amount based on the detection result of the vehicle sensor 60.
  • the traveling control unit 162 controls the control target based on the operation detection signal output by the operation detection sensor 72. For example, the traveling control unit 162 outputs the operation detection signal output by the operation detection sensor 72 as it is to each device to be controlled.
  • the traveling control unit 162 also detects that the track data has been detected by the storage control unit 154, that is, the buffer ECU 150 (storage control unit 154) has generated an abnormality in the track data.
  • the storage control unit 154 that is, the buffer ECU 150 (storage control unit 154) has generated an abnormality in the track data.
  • information indicating that the automatic operation mode is forcibly switched to the manual operation mode is output using a speaker mounted on the host vehicle M, a display device such as a liquid crystal display, the navigation device 50, etc. Prompts the driver to start manual driving.
  • the traveling control unit 162 when the traveling control unit 162 is outputting information indicating that the automatic driving mode is forcibly switched to the manual driving mode, the operation amount included in the operation detection signal does not exceed the threshold for a predetermined time, that is, When the operation device 70 is not operated by the driver for a certain period of time, the control amount of each device (90, 92, 94) to be controlled may be determined so as to decelerate and stop the host vehicle M.
  • the control switching unit 164 switches the control mode of the host vehicle M by the traveling control unit 162 from the automatic operation mode to the manual operation mode based on the action plan information 146 generated by the action plan generation unit 116 and stored in the storage unit 140. Or switch from the manual operation mode to the automatic operation mode. Further, based on the control mode designation signal input from changeover switch 80, control switching unit 164 automatically changes the control mode of vehicle M by traveling control unit 162 from the automatic operation mode to the manual operation mode or from the manual operation mode. Switch to the operation mode. That is, the control mode of the traveling control unit 162 can be arbitrarily changed during traveling or stopping by the operation of the driver or the like.
  • control switching unit 164 switches the control mode of the host vehicle M by the traveling control unit 162 from the automatic driving mode to the manual driving mode based on the operation detection signal input from the operation detection sensor 72. For example, when the operation amount included in the operation detection signal exceeds the threshold, that is, when the operation device 70 receives an operation with the operation amount exceeding the threshold, the control switching unit 164 automatically controls the control mode of the traveling control unit 162. Switch from the operation mode to the manual operation mode. For example, when the host vehicle M is traveling automatically by the traveling control unit 162 set to the automatic driving mode, the steering wheel, the accelerator pedal, or the brake pedal is operated by an operation amount exceeding a threshold by the driver.
  • the control switching unit 164 switches the control mode of the traveling control unit 162 from the automatic driving mode to the manual driving mode.
  • the vehicle control system 100 does not go through the operation of the changeover switch 80 by the operation performed by the driver when the object such as a person jumps out on the road or the front traveling vehicle suddenly stops. It is possible to switch to the manual operation mode immediately. As a result, the vehicle control system 100 can respond to an emergency operation by the driver, and can enhance safety during traveling.
  • the control switching unit 164 controls the control mode of the host vehicle M by the traveling control unit 162 from the automatic operation mode. Switch to manual operation mode. At this time, the control switching unit 164 may secure a time (hereinafter, referred to as a driving operation delegation grace period) required for preparation for driving to adjust the position of the seat, instead of immediately switching to the manual driving mode. .
  • the driving operation transfer grace period corresponds to a period from the timing when the abnormality of the trajectory data is detected to the timing when the time (target time T) corresponding to the length of the trajectory passes.
  • the control switching unit 164 may switch the control mode from the automatic driving mode to the manual driving mode before the timing when the time corresponding to the length of the track elapses. That is, the control switching unit 164 may switch the control mode from the automatic operation mode to the manual operation mode without waiting for the driving operation transfer allowance period to completely elapse.
  • FIG. 13 is a diagram for explaining the operation of the traveling control ECU 160 in the vehicle control system in which the buffer ECU 150 does not exist in the comparative example.
  • a configuration in which the buffer ECU 150 does not exist that is, a configuration in which functions equivalent to the trajectory generation ECU 110 and the travel control ECU 160 are realized by one ECU, or the output of the trajectory generation ECU 110 is directly traveled without the buffer ECU 150 It is the structure output to control ECU160.
  • FIG. 14 is a figure for demonstrating operation
  • the traveling control ECU 160 is based on the track data determined to be abnormal. Since the automatic operation mode can not be implemented, it is necessary to switch the control mode to the manual operation mode at the timing when an abnormality occurs. In addition, since switching to the manual driving mode immediately has a large burden on the driver, it is also assumed that control for automatically stopping the vehicle is performed.
  • the trajectory data generated by the trajectory generation ECU 110 is once stored in the buffer ECU 150 and then transmitted to the travel control ECU 160.
  • the buffer ECU 150 stops the process of writing the track data in the buffer area 158 thereafter. Therefore, in the buffer area 158, only trajectory data before an abnormality occurs is stored.
  • the traveling control ECU 160 can determine the control amount of each control target using only the trajectory data before the occurrence of the abnormality, it is possible to suppress the execution of the abnormal control.
  • the traveling control unit 162 notifies the driver that the manual operation mode is to be forcibly switched in the driving operation transfer grace period, so that the vehicle control system 100 takes time until the driver starts the manual operation. You can earn Thus, the vehicle control system 100 can realize safer operation mode transition. In addition, even if the vehicle control system 100 does not switch to the manual operation mode but stops the vehicle, the vehicle control system 100 does not immediately stop the vehicle but gradually decelerates during the grace period. Control is also possible. In any case, the vehicle control system 100 can finish automatic driving more smoothly.
  • the buffer ECU 150 causes the buffer area 158 to store the track data received from the track generation ECU 110, and the track data received from the track generation ECU 110 has an abnormality.
  • the traveling control ECU 160 automatically controls at least one of acceleration / deceleration or steering of the host vehicle M automatically based on the track data written in the buffer area 158 before an abnormality occurs, so that automatic driving can be performed more smoothly. Can end.
  • the failure rate is low for the trajectory generation ECU 110 that requires a high-level function of generating a trajectory according to the state of surrounding vehicles and the state of the own vehicle. If the design is highly secure, the cost is likely to be high.
  • the buffer ECU 150 which performs only processing of reading / writing track data, detection of abnormality, etc., does not require advanced functions compared to the track generation ECU 110, so even if it is designed with low failure rate and high safety. The cost can be reduced.
  • the vehicle control system 100 according to the first embodiment includes the buffer ECU 150 to reduce the failure rate and reduce the cost of the track generation ECU 110 while securing a certain level of safety or more. it can.
  • the storage capacity of the RAM included in the storage unit 156 of the buffer ECU 150 is compared to the storage capacity of the RAM included in the storage unit 140 of the track generation ECU 110
  • the storage unit 156 can be implemented by a highly safe and expensive RAM, and cost efficiency can be improved.
  • the traveling control ECU 160 does not automatically control at least one of acceleration / deceleration or steering of the host vehicle based on the track data after the occurrence of the abnormality. As a result, the vehicle control system 100 can improve the safety during traveling.
  • the travel control ECU 160 does not automatically control at least one of acceleration / deceleration or steering of the host vehicle based on the trajectory data after the occurrence of an abnormality. As a result, the vehicle control system 100 can improve the safety during traveling.
  • FIG. 15 is a diagram showing an example of the configuration of the buffer ECU 150A in the modification of the first embodiment.
  • the storage control unit 154A of the buffer ECU 150A in the modification of the first embodiment includes, for example, a first DMA controller 153, a second DMA controller 155, and an abnormality detection unit 157.
  • the first DMA controller 153 and the second DMA controller 155 may be realized by hardware such as an LSI or an ASIC, for example.
  • the abnormality detection unit 157 may be realized by a processor such as a CPU executing a program, or may be realized by hardware such as an LSI or an ASIC.
  • the first DMA controller 153 writes track data received from the track generation ECU 110 via the first interface 151 in the buffer area 158 using DMA transfer. Also, the first DMA controller 153 stops the process of writing to the buffer area 158 when an abnormality is detected by the abnormality detection unit 157 described later.
  • the second DMA controller 155 reads orbit data from the buffer area 158 using DMA transfer. Then, the second DMA controller 155 transmits the read track data to the travel control ECU 160 via the first interface 151.
  • the abnormality detection unit 157 monitors orbit data output to the first DMA controller 153 via the first interface 151 to detect an abnormality.
  • the abnormality detection unit 157 stops the writing process by the first DMA controller 153.
  • the buffer ECU 150A only performs a process of reading the track data from the buffer area 158. Therefore, the traveling control ECU 160 does not control the control target using the abnormal track data. Only the normal trajectory data stored in the area 158 can be used to control the control target.
  • the storage control unit 154 sequentially reads out from the buffer area 158 track data for which a predetermined time has elapsed from the time of receiving the track data, and reads track data via the second interface 152 in the order It transmits to the interface 165 by the side of traveling control ECU160.
  • FIG. 16 is a diagram for describing a process of sequentially transmitting orbit data according to the reception time.
  • “reception time” and “sent flag” are stored in the buffer area 158 in association with each “track data”.
  • the “transmission completed flag” represents orbit data in which a predetermined time has elapsed from the reception time by “1”, and indicates orbit data in which the predetermined time has not elapsed from the reception time by “0”.
  • the storage control unit 154 refers to the reception time, sequentially reads out from the buffer area 158 track data for which a predetermined time has elapsed, and transmits the track data to the travel control ECU 160.
  • the storage control unit 154 rewrites the “sent flag” from “0” to “1” when the orbit data is read after a predetermined time has elapsed.
  • the storage control unit 154 may newly overwrite the track data in the area where the “sent flag” is set to “1” when the writing process is performed. In this case, the storage control unit 154 rewrites the “sent flag” set to “1” to “0”.
  • the track generation ECU 110, the buffer ECU 150B, and the travel control ECU 160 mutually refer to the information to be transmitted by a plurality of devices via one or more communication lines (bus) BS. It differs from the first embodiment in that it is connected. The following description will focus on the differences.
  • the communication line BS may be, for example, a serial communication line or a parallel communication line.
  • FIG. 17 is a diagram showing an example of the configuration of a vehicle control system 100 according to the second embodiment. As shown in FIG. 17, each trajectory generation unit of the trajectory generation ECU 110 outputs trajectory data to the communication line BS.
  • the storage control unit 154 of the buffer ECU 150 B acquires (receives) the orbit data output to the communication line BS, and writes the acquired orbit data to the buffer area 158. In addition, the storage control unit 154 determines whether or not an abnormality occurs in the acquired trajectory data, and reads out the trajectory data written in the buffer area 158 when an abnormality occurs. Then, the storage control unit 154 outputs the read orbit data to the communication line BS. At this time, the storage control unit 154 adds information indicating that the orbit data is normal to the read orbit data, and outputs the information to the communication line BS.
  • the traveling control unit 162 of the traveling control ECU 160 acquires track data output to the communication line BS, determines a control amount of each control target based on the acquired track data, and controls the control target.
  • the traveling control unit 162 adopts the track data to which the information indicating that the priority is high is added by the buffer ECU 150B.
  • the traveling control unit 162 outputs the buffer ECU 150B more preferentially.
  • the control data of each control object is determined using trajectory data.
  • the traveling control unit 162 adopts the trajectory data to which the information indicating that the trajectory data is normal is added by the buffer ECU 150B. It is also good.
  • trajectory data when a plurality of ECUs respectively output trajectory data to the communication line BS, these ECUs perform communication processing such as CAN mediation on the communication line BS, and trajectory data from only one of the ECUs May be output.
  • the automatic driving is finished more smoothly as in the first to third embodiments described above. be able to.
  • the third embodiment will be described below.
  • the vehicle control system 100 according to the third embodiment further determines the future target position ahead of the future target position where the host vehicle M is expected to reach based on the track data written in the buffer area 158 by the buffer ECU 150C. It differs from the first and second embodiments in that it predicts a trajectory including a target position. The following description will focus on the differences.
  • FIG. 18 is a diagram showing an example of the configuration of a vehicle control system 100 according to the third embodiment.
  • the buffer ECU 150C in the third embodiment further includes a prediction unit 159 in addition to the buffer area 158 of the first interface 151, the second interface 152, the storage control unit 154, and the storage unit 156 described above.
  • the buffer area 158 in the third embodiment further includes an area for storing a future trajectory predicted by the prediction unit 159 described later.
  • the prediction unit 159 predicts, based on the trajectory data received via the first interface 151, a trajectory including a future target position further ahead than the future target position indicated by the trajectory. For example, the prediction unit 159 generates additional trajectory data in which the trajectory represented by the trajectory data is extended toward the traveling direction side of the vehicle M using a crossroid curve, a spline curve, or the like.
  • FIG. 19 is a diagram showing how additional trajectory data is generated.
  • K re shown in FIG. 19 represents a future target position (orbit point) indicated by the trajectory data, and K im represents a future target position further ahead.
  • the prediction unit 159 derives a function fitted to a curve (or a straight line) representing the trajectory of the trajectory, and extends the trajectory toward the traveling direction side of the host vehicle M using this function. This extended trajectory is replaced by a predetermined number of trajectory points (target position).
  • the storage control unit 154 writes, in the buffer area 158, data obtained by adding the additional trajectory data whose trajectory has been extended by the prediction unit 159 to the original trajectory data.
  • the travel control ECU 160 can control the control target based on the extended track.
  • the vehicle control system 100 according to the third embodiment can maintain the automatic operation mode for a longer period if an abnormality occurs in the track data, and the time until the driver starts the manual operation can be obtained. You can earn more.
  • vehicle control system 100 can finish the automatic driving more smoothly, as in the above-described first and second embodiments.
  • the traveling control ECU 160D stores track data and detects an abnormality in the track data, that is, the above-described function of the buffer ECU 150 is included in the traveling control ECU 160D. This is different from the first to third embodiments. The following description will focus on the differences.
  • FIG. 20 is a diagram showing an example of the configuration of a vehicle control system 100 according to the fourth embodiment.
  • the traveling control ECU 160D in the fourth embodiment further includes a storage control unit 167 in addition to the traveling control unit 162, the control switching unit 164, the interface 165, and the storage unit 170 described above.
  • the storage unit 170 in the traveling control ECU 160D also has a buffer area 172. As shown in FIG. 20, the buffer ECU may be omitted.
  • the storage control unit 167 receives trajectory data from the trajectory generation ECU 110 via the interface 165 and writes the trajectory data in the buffer area 172. Then, the storage control unit 167 sequentially reads out, from the buffer area 172, trajectory data for which a predetermined time has elapsed from the time of receiving the trajectory data. The storage control unit 167 also determines (detects) whether or not an abnormality has occurred in the trajectory data received from the trajectory generation ECU 110, and stops the writing process when an abnormality occurs. Even while the writing process is stopped, the storage control unit 167 continuously reads the track data for which the predetermined time has elapsed. Thus, the traveling control unit 162 controls each control target based on the track data in which no abnormality has occurred. As a result, the vehicle control system 100 in the fourth embodiment can finish the automatic driving more smoothly as in the first to third embodiments described above.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)
  • Valves And Accessory Devices For Braking Systems (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Regulating Braking Force (AREA)

Abstract

L'invention concerne un système de commande de véhicule pourvu : d'un premier dispositif générant des données de trajectoire montrant une future trajectoire d'un véhicule hôte et délivrant les données de trajectoire générées; un deuxième dispositif commandant l'une parmi l'accélération/la décélération et la direction du véhicule hôte, sur la base des données de trajectoire générées par le premier dispositif; et un troisième dispositif qui est situé à part au moins du premier dispositif, et qui reçoit les données de trajectoire générées par le premier dispositif et qui écrit les données de trajectoire reçues sur une unité de stockage du dispositif hôte. Lorsqu'une anomalie se produit dans les données de trajectoires délivrées par le premier dispositif, le deuxième dispositif commande au moins l'une parmi l'accélération/la décélération et la direction du véhicule hôte, sur la base des données de trajectoire qui ont été reçues et écrites sur le dispositif de stockage par le troisième dispositif avant que l'anomalie ne se produise.
PCT/JP2017/004369 2016-02-12 2017-02-07 Dispositif de commande de véhicule, procédé de commande de véhicule et programme de commande de véhicule WO2017138517A1 (fr)

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CN201780005707.3A CN108463386B (zh) 2016-02-12 2017-02-07 车辆控制系统
JP2017566949A JP6760977B2 (ja) 2016-02-12 2017-02-07 車両制御システム

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US20190031202A1 (en) 2019-01-31
JPWO2017138517A1 (ja) 2018-09-06

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